[wpimath] Report error when x and y components of Rotation2d are zero

Fixes wpilibsuite#6766.
calcmogul · Jun 22, 2024 · acfc0df · acfc0df
1 parent 2ff7033
commit acfc0df
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diff --git a/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java b/wpimath/src/main/java/edu/wpi/first/math/geometry/Rotation2d.java
@@ -118,6 +118,8 @@ public Rotation2d(double x, double y) {
     } else {
       m_sin = 0.0;
       m_cos = 1.0;
+      MathSharedStore.reportError(
+          "x and y components of Rotation2d are zero\n", Thread.currentThread().getStackTrace());
     }
     m_value = Math.atan2(m_sin, m_cos);
   }

diff --git a/wpimath/src/main/native/include/frc/geometry/Rotation2d.inc b/wpimath/src/main/native/include/frc/geometry/Rotation2d.inc
@@ -4,10 +4,15 @@
 
 #pragma once
 
+#include <string>
+#include <type_traits>
+
 #include <gcem.hpp>
+#include <wpi/StackTrace.h>
 
 #include "frc/geometry/Rotation2d.h"
 #include "units/angle.h"
+#include "wpimath/MathShared.h"
 
 namespace frc {
 
@@ -24,6 +29,12 @@ constexpr Rotation2d::Rotation2d(double x, double y) {
   } else {
     m_sin = 0.0;
     m_cos = 1.0;
+    if (!std::is_constant_evaluated()) {
+      std::string msg =
+          fmt::format("x and y components of Rotation2d are zero\n{}",
+                      wpi::GetStackTrace(1));
+      wpi::math::MathSharedStore::ReportError(msg);
+    }
   }
   m_value = units::radian_t{gcem::atan2(m_sin, m_cos)};
 }